串联抑振轨迹规划方法及在FAST馈源支撑系统中的应用  

A cascade vibration-free trajectory planning method and its application in the FAST feed support system

作　　者：景奉水[1,2] 郑榕樟 杨国栋 邓赛[1,2] 谭民 Fengshui JING;Rongzhang ZHENG;Guodong YANG;Sai DENG;Min TAN(The State Key Laboratory of Management and Control for Complex Systems,Institute of Automation,Chinese Academy of Sciences,Beijing 100190,China;School of Artificial Intelligence,University of Chinese Academy of Sciences,Beijing 100049,China;Xilinx Electronic Technology(Beijing)Co.,Ltd.,Beijing 100101,China)

机构地区：[1]中国科学院自动化研究所复杂系统管理与控制国家重点实验室,北京100190 [2]中国科学院大学人工智能学院,北京100049 [3]赛灵思电子科技(北京)有限公司,北京100101

出　　处：《中国科学：信息科学》2021年第11期1914-1930,共17页Scientia Sinica(Informationis)

基　　金：国家重点研发计划(批准号:2019YFB1312703);国家自然科学基金(批准号:U1813208,61903362)资助项目。

摘　　要：针对低阻尼柔性机构运动中的振动问题,本文提出了一种综合最优双S形轨迹规划法和输入整形法优点的串联抑振轨迹规划方法,其优势是可以有效抑制匀速运动时段的振动.论文从理论分析和数字仿真两个方面对该方法的正确性进行了证明.最后,对该方法在FAST馈源支撑系统的应用结果进行分析,表明其可有效提高并联柔索机构的运动精度,特别在匀速运动时可提高位置跟踪精度超过20%.In order to solve the vibration problem of low-damping flexible mechanism in motion,a cascade vibration suppression(CVS)trajectory planning method combining the advantages of the optimal double S-curve trajectory planning method and the input shaping method is proposed.The CVS method can effectively suppress the vibration in the period of uniform motion.The correctness of this method is proved by theoretical analysis and digital simulation.Finally,the application results of the proposed method in the FAST feed support system show that it can effectively improve the motion accuracy of the parallel cable mechanism,especially when the motion speed is constant,improving the position tracking accuracy by over 20%.

关 键 词：柔性机构 五百米口径球面射电望远镜 振动抑制 轨迹跟踪 运动规划 

分 类 号：TH751[机械工程—仪器科学与技术]